Replace `pythonize` with `pyarrow`

python/Cargo.toml

@@ -7,13 +7,12 @@ edition = "2021"
 [dependencies]
 dora-ros2-bridge = { path = "..", default-features = false }
 dora-ros2-bridge-msg-gen = { path = "../msg-gen" }
-pyo3 = { version = "0.18", features = ["eyre", "abi3-py37", "serde"] }
+pyo3 = { version = "0.19", features = ["eyre", "abi3-py37", "serde"] }
 eyre = "0.6"
 serde = "1.0.166"
 serde_yaml = "0.8.23"
 flume = "0.10.14"
-arrow = { version = "35.0.0", features = ["pyarrow"] }
-pythonize = "0.18.0"
+arrow = { version = "45.0.0", features = ["pyarrow"] }
 
 [lib]
 name = "dora_ros2_bridge"

python/src/lib.rs

@@ -6,6 +6,7 @@ use std::{
 };
 
 use ::dora_ros2_bridge::{ros2_client, rustdds};
+use arrow::pyarrow::{FromPyArrow, ToPyArrow};
 use dora_ros2_bridge_msg_gen::types::Message;
 use eyre::{eyre, Context, ContextCompat};
 use pyo3::{
@@ -182,10 +183,9 @@ pub struct Ros2Publisher {
 impl Ros2Publisher {
     pub fn publish(&self, data: &PyAny) -> eyre::Result<()> {
         // TODO: add support for arrow types
-        let value = pythonize::depythonize(data).context("failed to depythonize data")?;
-
-        // add type info to ensure correct serialization (e.g. struct types
-        // and map types need to be serialized differently)
+        let value = arrow::array::ArrayData::from_pyarrow(data)?;
+        //// add type info to ensure correct serialization (e.g. struct types
+        //// and map types need to be serialized differently)
         let typed_value = TypedValue {
             value: &value,
             type_info: &self.type_info,
@@ -217,9 +217,7 @@ impl Ros2Subscription {
             return Ok(None)
         };
 
-        let message =
-            pythonize::pythonize(py, value.deref()).context("failed to pythonize value")?;
-
+        let message = value.to_pyarrow(py)?;
         // TODO: add `info`
 
         Ok(Some(message))